/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

/**
 * file : piecewise_poly_vt_speed_sampler.h
 */
#pragma once

#include <vector>

#include "modules/common/proto/pnc_point.pb.h"
#include "modules/planning/proto/poly_vt_speed_config.pb.h"
#include "modules/planning/tasks/optimizers/poly_vt_speed/piecewise_poly_speed_profile.h"

namespace apollo {
namespace planning {

class PiecewisePolyVTSpeedSampler {
 public:
  explicit PiecewisePolyVTSpeedSampler(const PolyVTSpeedConfig& config);

  /**
   * Sample function generate samples based on configuration and input sta
   * @param  init_point  : init status
   * @param  path_length : total path length (max)
   * @param  samples     : output sampels
   * @return             : return true if success
   */
  bool Sample(const common::TrajectoryPoint& init_point,
              const double path_length,
              std::vector<PiecewisePolySpeedProfile>* const samples) const;

 private:
  PolyVTSpeedConfig config_;
};

}  // namespace planning
}  // namespace apollo
